GB2456115A - Steering control during split mu braking - Google Patents

Steering control during split mu braking Download PDF

Info

Publication number
GB2456115A
GB2456115A GB0908256A GB0908256A GB2456115A GB 2456115 A GB2456115 A GB 2456115A GB 0908256 A GB0908256 A GB 0908256A GB 0908256 A GB0908256 A GB 0908256A GB 2456115 A GB2456115 A GB 2456115A
Authority
GB
United Kingdom
Prior art keywords
vehicle
steering control
braking
control during
yaw moment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB0908256A
Other versions
GB0908256D0 (en
GB2456115B (en
Inventor
Andrew Dennis Barton
Anthony Walter Burton
Adam John Heenan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TRW Ltd
Original Assignee
TRW Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by TRW Ltd filed Critical TRW Ltd
Publication of GB0908256D0 publication Critical patent/GB0908256D0/en
Publication of GB2456115A publication Critical patent/GB2456115A/en
Application granted granted Critical
Publication of GB2456115B publication Critical patent/GB2456115B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • B62D6/005—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis treating sensor outputs to obtain the actual yaw rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability

Abstract

An electric assisted steering control strategy for a steering system for a vehicle is arranged to assist the driver in controlling the vehicle during a split niu braking operation. The steering is provided with assistance being based on at least one operational variable representing a corrective steer angle for the vehicle which is added to a main assistance torque via a driver feedback controller, and the strategy is adapted to employ an estimate of yaw moment of the vehicle as the operational variable, the yaw moment being determined by processing the speed of wheels on opposite sides of the vehicle.
GB0908256A 2006-10-21 2007-10-19 Steering control during split mu braking Expired - Fee Related GB2456115B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB0620962.1A GB0620962D0 (en) 2006-10-21 2006-10-21 Steering control during split MU braking
PCT/GB2007/004025 WO2008047152A1 (en) 2006-10-21 2007-10-19 Steering control during split mu braking

Publications (3)

Publication Number Publication Date
GB0908256D0 GB0908256D0 (en) 2009-06-24
GB2456115A true GB2456115A (en) 2009-07-08
GB2456115B GB2456115B (en) 2011-04-20

Family

ID=37508144

Family Applications (2)

Application Number Title Priority Date Filing Date
GBGB0620962.1A Ceased GB0620962D0 (en) 2006-10-21 2006-10-21 Steering control during split MU braking
GB0908256A Expired - Fee Related GB2456115B (en) 2006-10-21 2007-10-19 Steering control during split mu braking

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GBGB0620962.1A Ceased GB0620962D0 (en) 2006-10-21 2006-10-21 Steering control during split MU braking

Country Status (5)

Country Link
US (1) US8494717B2 (en)
CN (1) CN101616836B (en)
DE (1) DE112007002496B4 (en)
GB (2) GB0620962D0 (en)
WO (1) WO2008047152A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9008876B2 (en) 2010-06-03 2015-04-14 Mira Limited Yaw motion control of a vehicle

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5206748B2 (en) * 2010-07-30 2013-06-12 三菱自動車工業株式会社 Steering force control device
EP2703253B1 (en) 2011-04-27 2015-09-30 Honda Motor Co., Ltd. Vehicle steering device
JP5965968B2 (en) * 2014-11-19 2016-08-10 本田技研工業株式会社 Electric power steering device and steering support control device
US10046770B1 (en) * 2017-04-10 2018-08-14 GM Global Technology Operations LLC Systems and methods for estimating a road surface friction coefficient and vehicle lateral velocity using a decoupled dynamical model
US10996673B1 (en) * 2017-09-28 2021-05-04 Apple Inc. Manual override
JP2020196359A (en) * 2019-06-04 2020-12-10 マツダ株式会社 Vehicle attitude controller

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1209053A1 (en) * 2000-11-24 2002-05-29 Renault Active drive assist method for motor vehicle in case of a split-mu braking
EP1516800A1 (en) * 2003-09-17 2005-03-23 Bayerische Motoren Werke Aktiengesellschaft Method of providing a yaw moment compensation for a vehicle

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19724955C2 (en) * 1997-06-12 1999-04-15 Siemens Ag Method for determining the yaw rate of a vehicle
KR20020043069A (en) * 2000-12-01 2002-06-08 밍 루 Apparatus for controlling a motor in electronic power steering system
US6453226B1 (en) * 2001-01-25 2002-09-17 Delphi Technologies, Inc. Integrated control of active tire steer and brakes
GB2372020A (en) * 2001-02-07 2002-08-14 Lucas Industries Ltd Haptic controller for electrically-assisted power steering in road vehicles
GB0106925D0 (en) * 2001-03-20 2001-05-09 Lucas Industries Ltd Steering control during ABS split MU operation
JP4029856B2 (en) * 2004-03-26 2008-01-09 トヨタ自動車株式会社 Vehicle behavior control device
JP4628829B2 (en) 2005-03-16 2011-02-09 本田技研工業株式会社 Steering device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1209053A1 (en) * 2000-11-24 2002-05-29 Renault Active drive assist method for motor vehicle in case of a split-mu braking
EP1516800A1 (en) * 2003-09-17 2005-03-23 Bayerische Motoren Werke Aktiengesellschaft Method of providing a yaw moment compensation for a vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9008876B2 (en) 2010-06-03 2015-04-14 Mira Limited Yaw motion control of a vehicle

Also Published As

Publication number Publication date
WO2008047152A1 (en) 2008-04-24
CN101616836B (en) 2013-03-06
CN101616836A (en) 2009-12-30
US8494717B2 (en) 2013-07-23
GB0908256D0 (en) 2009-06-24
DE112007002496T5 (en) 2009-09-10
US20110077824A1 (en) 2011-03-31
GB2456115B (en) 2011-04-20
GB0620962D0 (en) 2006-11-29
DE112007002496B4 (en) 2021-04-29
WO2008047152A8 (en) 2008-08-14

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Legal Events

Date Code Title Description
732E Amendments to the register in respect of changes of name or changes affecting rights (sect. 32/1977)

Free format text: REGISTERED BETWEEN 20130905 AND 20130911

PCNP Patent ceased through non-payment of renewal fee

Effective date: 20201019